DART  6.10.1
RenderInterface.hpp
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32 
33 #ifndef DART_GUI_RENDERINTERFACE_HPP_
34 #define DART_GUI_RENDERINTERFACE_HPP_
35 
36 #include <vector>
37 #include <Eigen/Dense>
38 #include <assimp/scene.h>
39 
40 #include "dart/math/MathTypes.hpp"
41 
42 namespace dart {
43 namespace gui {
44 
46 {
48  BT_Back
49 };
50 
52 {
58  CC_RGBA
59 };
60 
62 {
67  DT_Max
68 };
69 
71 {
72 public:
74  {
75  }
76  virtual ~RenderInterface()
77  {
78  }
79 
80  virtual void initialize();
81  virtual void destroy();
82 
83  virtual void setViewport(int _x, int _y, int _width, int _height);
84  virtual void getViewport(int& _x, int& _y, int& _width, int& _height) const;
85 
86  virtual void clear(const Eigen::Vector3d& _color);
87 
88  virtual void setMaterial(
89  const Eigen::Vector3d& _diffuse,
90  const Eigen::Vector3d& _specular,
91  double _cosinePow);
92  virtual void getMaterial(
93  Eigen::Vector3d& _diffuse,
94  Eigen::Vector3d& _specular,
95  double& _cosinePow) const;
96  virtual void setDefaultMaterial();
97 
98  virtual void pushMatrix();
99  virtual void popMatrix();
100  virtual void pushName(int _id);
101  virtual void popName();
102 
103  virtual void translate(const Eigen::Vector3d& _offset); // glTranslate
104  virtual void rotate(const Eigen::Vector3d& _axis, double _rad); // glRotate
105  virtual void transform(const Eigen::Isometry3d& _transform); // glMultMatrix
106  virtual void scale(const Eigen::Vector3d& _scale); // glScale
107 
108  virtual void drawSphere(double radius, int slices = 16, int stacks = 16);
109  virtual void drawMultiSphere(
110  const std::vector<std::pair<double, Eigen::Vector3d>>& spheres,
111  int slices = 16,
112  int stacks = 16);
113  virtual void drawEllipsoid(const Eigen::Vector3d& _size);
114  virtual void drawCube(const Eigen::Vector3d& _size);
115  virtual void drawOpenCylinder(
116  double baseRadius,
117  double topRadius,
118  double height,
119  int slices = 16,
120  int stacks = 16);
121  virtual void drawCylinder(
122  double _radius, double _height, int slices = 16, int stacks = 16);
123  virtual void drawCapsule(double _radius, double _height);
124  virtual void drawCone(double _radius, double _height);
125  virtual void drawPyramid(double baseWidth, double baseDepth, double height);
126  virtual void drawMesh(const Eigen::Vector3d& _scale, const aiScene* _mesh);
127  virtual void drawSoftMesh(const aiMesh* mesh);
128  virtual void drawList(unsigned int index);
129  virtual void drawLineSegments(
130  const std::vector<Eigen::Vector3d>& _vertices,
131  const common::aligned_vector<Eigen::Vector2i>& _connections);
132 
133  virtual unsigned int compileDisplayList(
134  const Eigen::Vector3d& _size, const aiScene* _mesh);
135 
136  virtual void setPenColor(const Eigen::Vector4d& _col);
137  virtual void setPenColor(const Eigen::Vector3d& _col);
138 
139  virtual void setLineWidth(float _width);
140 
141  virtual void saveToImage(
142  const char* _filename, DecoBufferType _buffType = BT_Back);
143  virtual void readFrameBuffer(
144  DecoBufferType _buffType, DecoColorChannel _ch, void* _pixels);
145 };
146 
147 } // namespace gui
148 } // namespace dart
149 
150 #endif // #ifndef DART_GUI_RENDERINTERFACE_HPP_
std::size_t index
Definition: SkelParser.cpp:1672
Definition: RenderInterface.hpp:71
virtual void clear(const Eigen::Vector3d &_color)
Definition: RenderInterface.cpp:56
virtual void pushName(int _id)
Definition: RenderInterface.cpp:86
virtual void pushMatrix()
Definition: RenderInterface.cpp:78
virtual void setLineWidth(float _width)
Definition: RenderInterface.cpp:192
virtual void drawSphere(double radius, int slices=16, int stacks=16)
Definition: RenderInterface.cpp:110
virtual void drawCylinder(double _radius, double _height, int slices=16, int stacks=16)
Definition: RenderInterface.cpp:166
virtual void drawOpenCylinder(double baseRadius, double topRadius, double height, int slices=16, int stacks=16)
Definition: RenderInterface.cpp:157
virtual void getViewport(int &_x, int &_y, int &_width, int &_height) const
Definition: RenderInterface.cpp:51
virtual void initialize()
Definition: RenderInterface.cpp:38
RenderInterface()
Definition: RenderInterface.hpp:73
virtual void drawEllipsoid(const Eigen::Vector3d &_size)
Definition: RenderInterface.cpp:123
virtual void drawList(unsigned int index)
Definition: RenderInterface.cpp:137
virtual void drawCapsule(double _radius, double _height)
Definition: RenderInterface.cpp:171
virtual void drawPyramid(double baseWidth, double baseDepth, double height)
Definition: RenderInterface.cpp:179
virtual void drawSoftMesh(const aiMesh *mesh)
Definition: RenderInterface.cpp:132
virtual void translate(const Eigen::Vector3d &_offset)
Definition: RenderInterface.cpp:94
virtual void popName()
Definition: RenderInterface.cpp:90
virtual void drawCone(double _radius, double _height)
Definition: RenderInterface.cpp:175
virtual void drawMultiSphere(const std::vector< std::pair< double, Eigen::Vector3d >> &spheres, int slices=16, int stacks=16)
Definition: RenderInterface.cpp:115
virtual void setPenColor(const Eigen::Vector4d &_col)
Definition: RenderInterface.cpp:184
virtual void setDefaultMaterial()
Definition: RenderInterface.cpp:74
virtual void drawMesh(const Eigen::Vector3d &_scale, const aiScene *_mesh)
Definition: RenderInterface.cpp:127
virtual void drawCube(const Eigen::Vector3d &_size)
Definition: RenderInterface.cpp:153
virtual void popMatrix()
Definition: RenderInterface.cpp:82
virtual void setViewport(int _x, int _y, int _width, int _height)
Definition: RenderInterface.cpp:46
virtual void getMaterial(Eigen::Vector3d &_diffuse, Eigen::Vector3d &_specular, double &_cosinePow) const
Definition: RenderInterface.cpp:67
virtual void saveToImage(const char *_filename, DecoBufferType _buffType=BT_Back)
Definition: RenderInterface.cpp:196
virtual unsigned int compileDisplayList(const Eigen::Vector3d &_size, const aiScene *_mesh)
Definition: RenderInterface.cpp:147
virtual void setMaterial(const Eigen::Vector3d &_diffuse, const Eigen::Vector3d &_specular, double _cosinePow)
Definition: RenderInterface.cpp:60
virtual void scale(const Eigen::Vector3d &_scale)
Definition: RenderInterface.cpp:106
virtual void rotate(const Eigen::Vector3d &_axis, double _rad)
Definition: RenderInterface.cpp:98
virtual void readFrameBuffer(DecoBufferType _buffType, DecoColorChannel _ch, void *_pixels)
Definition: RenderInterface.cpp:201
virtual void transform(const Eigen::Isometry3d &_transform)
Definition: RenderInterface.cpp:102
virtual void drawLineSegments(const std::vector< Eigen::Vector3d > &_vertices, const common::aligned_vector< Eigen::Vector2i > &_connections)
Definition: RenderInterface.cpp:141
virtual void destroy()
Definition: RenderInterface.cpp:42
virtual ~RenderInterface()
Definition: RenderInterface.hpp:76
std::vector< _Tp, Eigen::aligned_allocator< _Tp > > aligned_vector
Definition: Memory.hpp:71
DecoBufferType
Definition: RenderInterface.hpp:46
@ BT_Front
Definition: RenderInterface.hpp:47
@ BT_Back
Definition: RenderInterface.hpp:48
DecoDrawType
Definition: RenderInterface.hpp:62
@ DT_SolidPolygon
Definition: RenderInterface.hpp:64
@ DT_FrontPolygon
Definition: RenderInterface.hpp:65
@ DT_BackPolygon
Definition: RenderInterface.hpp:66
@ DT_WireFrame
Definition: RenderInterface.hpp:63
@ DT_Max
Definition: RenderInterface.hpp:67
DecoColorChannel
Definition: RenderInterface.hpp:52
@ CC_B
Definition: RenderInterface.hpp:55
@ CC_R
Definition: RenderInterface.hpp:53
@ CC_RGBA
Definition: RenderInterface.hpp:58
@ CC_A
Definition: RenderInterface.hpp:56
@ CC_G
Definition: RenderInterface.hpp:54
@ CC_RGB
Definition: RenderInterface.hpp:57
Definition: BulletCollisionDetector.cpp:65